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. Author manuscript; available in PMC: 2009 Apr 7.
Published in final edited form as: J Biomech. 2007 Apr 2;40(8):1653–1661. doi: 10.1016/j.jbiomech.2007.01.022

Figure 3.

Figure 3

A block diagram showing feedback control using three sensory modalities, namely, (1) thumbpad sensation, (2) non-digital mechanoreceptors and, (3) vision. The mathematical model is a specific implementation of this block diagram that uses simple proportional feedback control and the entire closed-loop dynamics of this system is modeled as a subcritical pitchfork bifurcation. Time-delays (Δt) and noise (σ) are explicitly labeled only for the sensory branches since for the purpose of this study, only the sensory time-delays and noise affect the relative usefulness of various modalities.